Motion assistance apparatus

ABSTRACT

A motion assistance apparatus includes a waist frame configured to support a waist of a user, and a proximal support configured to support a proximal part of the user. A pressure applied to a thigh of the user by the proximal support in a sitting state in which the user is sitting may be greater than a pressure applied to the thigh of the user by the proximal support in a standing state in which the user is standing upright.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims under 35 U.S.C. § 119 to Korean PatentApplication No. 10-2018-0131045, filed on Oct. 30, 2018, in the KoreanIntellectual Property Office, the entire contents of which areincorporated herein by reference in its entirety.

BACKGROUND 1. Field

At least one example embodiment relates to a motion assistanceapparatus.

2. Description of the Related Art

Motion assistance apparatuses enabling the elderly or patients havingjoint problems to walk with less effort, and apparatuses for assistingmuscular strength of users, for example, for military purposes are beingdeveloped.

SUMMARY

Some example embodiments relate to a motion assistance apparatus.

In some example embodiments, the motion assistance apparatus may includea waist frame configured to support a waist of a user; and a proximalsupport configured to support a proximal part of the user such that apressure applied to a thigh of the user by the proximal support when theuser is in a sitting state is greater than the pressure applied to thethigh of the user by the proximal support when the user is in a standingstate.

In some example embodiments, the proximal support is configured to applythe pressure to the proximal part of the user such that the pressuregradually increases while the user transitions from standing state tothe sitting state.

In some example embodiments, the proximal support is configured tosupport a rear surface of the proximal part of the user.

In some example embodiments, the motion assistance apparatus furtherincludes a distal support rotatably connected to the proximal support,the distal support configured to support a distal part of the user; andan actuator configured to adjust an angle between the distal support andthe proximal support.

In some example embodiments, the proximal support includes a proximalaction portion configured to cover at least a portion of one or more ofthe thigh or a hip of the user.

In some example embodiments, the motion assistance apparatus furtherincludes a proximal action portion configured to support a hip of theuser, the proximal action portion including a first end and a secondend, the first end being connected to the proximal support and thesecond end being connected to the waist frame.

Some example embodiments relate to a motion assistance apparatus.

In some example embodiments, the motion assistance apparatus may includea waist frame configured to support a waist of a user; a proximalsupport configured to support a proximal part of the user; and a rotarycoupler configured to rotatably couple the waist frame and the proximalsupport at a selected one of a plurality of different positions suchthat a position at which the proximal support is connected to the waistframe via the rotary coupler varies based on the selected one of theplurality of different positions.

In some example embodiments, the waist frame includes an axis adjustmentguide on the waist frame such that the axis adjustment guide is tiltedupward toward a rear side of the waist frame, the axis adjustment guideconfigured to adjust a relative position between the waist frame and therotary coupler.

In some example embodiments, the rotary coupler includes a baseinstallable in the axis adjustment guide at different ones of theplurality of different positions; and a rotating body rotatablyconnected to the base.

In some example embodiments, the proximal support includes a lengthadjustment guide on the proximal support, the length adjustment guideconfigured to adjust a relative position between the rotary coupler andthe proximal support.

In some example embodiments, the axis adjustment guide has a pluralityof axis adjustment holes arranged in parallel therein.

In some example embodiments, the axis adjustment guide is tilted upwardand backward at 45 degrees when the user is in a standing state.

In some example embodiments, the proximal support includes a proximalframe perpendicular to a ground when the user is in a standing state;and a proximal extension extending backward and upward from the proximalframe, the proximal extension configured to connect to the rotarycoupler.

In some example embodiments, the proximal support is configured tosupport a rear surface of the proximal part of the user, and the motionassistance apparatus further includes a distal support rotatablyconnected to the proximal support, the distal support configured tosupport a distal part of the user; and an actuator configured togenerate a force to change an angle between the distal support and aproximal frame.

Some example embodiments relate to a motion assistance apparatus.

In some example embodiments, the motion assistance apparatus may includea waist frame configured to support a waist of a user; and a proximalsupport configured to simultaneously perform a rotation and atranslation with respect to the waist frame.

In some example embodiments, the proximal support is configured toperform the translation toward an upper side of the waist frame inresponse to the user transitioning from a standing state to a sittingstate.

In some example embodiments, the proximal support includes a first guideslot and a second guide slot, the second guide slot being on a sidefurther to a rear side of the user than the first guide slot, and thewaist frame includes a first projection and a second projection, thesecond projection spaced apart from the first projection by a projectiondistance, the first projection and the second projection configured topenetrate the first guide slot and the second guide slot, respectively.

In some example embodiments, from upper ends of the first guide slot andthe second guide slot to lower ends of the first guide slot and thesecond guide slot, a slot distance between a center axis of the firstguide slot and the second guide slot remains equal to the projectiondistance between the first projection and the second projection.

In some example embodiments, a first length of the first guide slot isdifferent than a second length of the second guide slot.

In some example embodiments, the first length of the first guide slot isgreater than the second length of the second guide slot.

In some example embodiments the proximal support and the waist frame areconfigured such that, when the user is in a standing state, a center ofa virtual line connecting the first projection and the second projectionis higher than a center of a virtual line connecting the lower ends ofthe first guide slot and the second guide slot.

Additional aspects of example embodiments will be set forth in part inthe description which follows and, in part, will be apparent from thedescription, or may be learned by practice of the disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

These and/or other aspects will become apparent and more readilyappreciated from the following description of example embodiments, takenin conjunction with the accompanying drawings of which:

FIG. 1 is a perspective view illustrating a motion assistance apparatusaccording to at least one example embodiment;

FIG. 2 is a side view illustrating a motion assistance apparatusaccording to at least one example embodiment;

FIG. 3 is an exploded perspective view illustrating a motion assistanceapparatus according to at least one example embodiment;

FIG. 4 is a front view schematically illustrating a motion assistanceapparatus according to at least one example embodiment;

FIG. 5 is a front view illustrating a state in which a position of arotary coupler with respect to a waist frame is changed in the motionassistance apparatus of FIG. 4;

FIG. 6 is a front view illustrating a state in which a position of aproximal support with respect to the rotary coupler of FIG. 5 ischanged;

FIG. 7 is a block diagram illustrating a motion assistance apparatusaccording to at least one example embodiment;

FIGS. 8 through 10 are side views illustrating a motion assistanceapparatus according to at least one example embodiment;

FIG. 11 schematically illustrates a moving route of a proximal supportaccording to at least one example embodiment;

FIGS. 12 through 14 are rear views illustrating a motion assistanceapparatus according to at least one example embodiment; and

FIGS. 15 through 17 are side views illustrating a motion assistanceapparatus according to at least one example embodiment.

DETAILED DESCRIPTION

Hereinafter, some example embodiments will be described in detail withreference to the accompanying drawings. Regarding the reference numeralsassigned to the elements in the drawings, it should be noted that thesame elements will be designated by the same reference numerals,wherever possible, even though they are shown in different drawings.Also, in the description of example embodiments, detailed description ofwell-known related structures or functions will be omitted when it isdeemed that such description will cause ambiguous interpretation of thepresent disclosure.

It should be understood, however, that there is no intent to limit thisdisclosure to the particular example embodiments disclosed. On thecontrary, example embodiments are to cover all modifications,equivalents, and alternatives falling within the scope of the exampleembodiments. Like numbers refer to like elements throughout thedescription of the figures.

In addition, terms such as first, second, A, B, (a), (b), and the likemay be used herein to describe components. Each of these terminologiesis not used to define an essence, order or sequence of a correspondingcomponent but used merely to distinguish the corresponding componentfrom other component(s). It should be noted that if it is described inthe specification that one component is “connected”, “coupled”, or“joined” to another component, a third component may be “connected”,“coupled”, and “joined” between the first and second components,although the first component may be directly connected, coupled orjoined to the second component.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting. As used herein, thesingular forms “a,” “an,” and “the,” are intended to include the pluralforms as well, unless the context clearly indicates otherwise. It willbe further understood that the terms “comprises,” “comprising,”“includes,” and/or “including,” when used herein, specify the presenceof stated features, integers, steps, operations, elements, and/orcomponents, but do not preclude the presence or addition of one or moreother features, integers, steps, operations, elements, components,and/or groups thereof.

It should also be noted that in some alternative implementations, thefunctions/acts noted may occur out of the order noted in the figures.For example, two figures shown in succession may in fact be executedsubstantially concurrently or may sometimes be executed in the reverseorder, depending upon the functionality/acts involved.

FIG. 1 is a perspective view illustrating a motion assistance apparatusaccording to at least one example embodiment, FIG. 2 is a side viewillustrating a motion assistance apparatus according to at least oneexample embodiment, and FIG. 3 is an exploded perspective viewillustrating a motion assistance apparatus according to at least oneexample embodiment.

Referring to FIGS. 1 through 3, a motion assistance apparatus 1 may beworn on a user to assist walking of the user. The user may be, forexample, a human, an animal, or a robot, but is not limited thereto. Themotion assistance apparatus 1 may operate about an axis that ismisaligned with a hip joint axis of the user. The motion assistanceapparatus 1 may apply a sufficient pressure to press a proximal part,for example, a thigh and/or hip, in a state in which a flexion angle ofa knee joint is sufficiently large, for example, in a state in which theuser is sitting or ascends stairs. When a power is transferred to aproximal support 12 for an extension of the knee joint, the motionassistance apparatus 1 may instantly rotate the thigh about a shin. Inother words, the motion assistance apparatus 1 may increase a forcetransferred to a rear surface of the proximal part by reducing a forcetransferred to a waist and/or back and wasted, to efficiently assist theextension of the knee joint. Also, the motion assistance apparatus 1 mayenhance a wearability of the user by reducing a problem of transferringan unnecessary force to the waist and/or back during the extension ofthe knee joint.

The motion assistance apparatus 1 may include a waist frame 11, theproximal support 12, a rotary coupler 13, a distal support 14 and anactuator 19.

The waist frame 11 may assist the waist of the user. The waist frame 11may include a waist frame body 111, a waist extension 112, an axisadjustment guide 113 and a back part 119.

The waist frame body 111 may cover the waist of the user. The waistframe body 111 may be formed of a rigid material. The waist frame body111 may include a buffering portion (not shown) formed of a flexiblematerial to enhance the wearability.

The waist extension 112 may extend from the waist frame body 111 towarda hip joint of the user. An axis of the hip joint of the user may passthrough the waist extension 112 when viewed from a side of the motionassistance apparatus 1. For example, the waist extension 112 may extendforward and downward from a rear portion of the waist frame body 111.For example, the waist extension 112 may be formed integrally with thewaist frame body 111.

The axis adjustment guide 113 may guide a position of the rotary coupler13 installed on the waist extension 112. The position of the rotarycoupler 13 may correspond to a position of a rotation axis of theproximal support 12 with respect to the waist frame 11. Thus, by theaxis adjustment guide 113, the position of the rotation axis of theproximal support 12 with respect to the waist frame 11 may be adjusted.By the above structure, the rotation axis of the proximal support 12with respect to the waist frame 11 may be located above a hip joint axisof the user, and thus a sufficient pressure to push the rear surface ofthe proximal part may be applied in a state in which the flexion angleof the knee joint is sufficiently large.

The axis adjustment guide 113 may be formed on the waist extension 112.The axis adjustment guide 113 may be tilted upward toward a rear side ofthe waist extension 112. Based on a standing state in which the user isstanding upright, the axis adjustment guide 113 may be tilted upwardtoward a rear side of the user at an angle of 40 degrees to 50 degrees,for example, 45 degrees.

The axis adjustment guide 113 may include a plurality of axis adjustmentholes 113 a and 113 b that are arranged in parallel. The plurality ofaxis adjustment holes 113 a and 113 b may include a plurality of firstholes 113 a and a plurality of second holes 113 b that are arranged inparallel. The plurality of axis adjustment holes 113 a and 113 b may befastened and fixed by a fastening member, for example, a bolt, passingthrough the rotary coupler 13. For example, a first fastening member 18a may be fastened into a first hole 113 a by passing through a firstreceiving portion 131 a of the rotary coupler 13. Also, a secondfastening member 18 b may be fastened into a second hole 113 b bypassing through a second receiving portion 131 b of the rotary coupler13. The first receiving portion 131 a and the second receiving portion131 b may be holes formed through the rotary coupler 13. The position ofthe rotary coupler 13 with respect to the waist extension 112 may bedetermined based on positions in which the first fastening member 18 aand the second fastening member 18 b are fastened. A shape of the axisadjustment holes 113 a and 113 b is necessarily not limited to a shapeof a hole, and various shapes, for example, a shape of a slot thatcontinues to be elongated may be provided.

The back part 119 may support the back of the user. The back part 119may be fixed to one side of the waist frame body 111.

The proximal support 12 may support the proximal part of the user, forexample, a thigh and/or hip. An example in which the proximal support 12supports the thigh is described below. The proximal support 12 may beinstalled in the rotary coupler 13 installed on the waist frame 11. Theproximal support 12 may support a rear surface of the thigh of the user.The proximal support 12 may increase an angle between the thigh and ashin by pressing the rear surface of the thigh while the user isextending the knee joint. The proximal support 12 may apply a pressureto the thigh so that the thigh may be pressed, in a sitting state inwhich the user is sitting by sufficiently flexing knees at about 60degrees or greater as shown in FIG. 10. A pressure applied to the thighby the proximal support 12 in a standing state in which the userstretches knees to the maximum as shown in FIG. 8 may be less than apressure applied to the thigh by the proximal support 12 in the sittingstate. For example, in the standing state, the proximal support 12 maynot apply a pressure to the thigh. The proximal support 12 may include aproximal frame 121, a proximal extension 122, a length adjustment guide123 and a proximal action portion 129.

The proximal frame 121 may be substantially parallel to the thigh of theuser wearing the motion assistance apparatus 1. The proximal frame 121may support the proximal action portion 129 that applies a force to theproximal part of the user. An angle between the thigh and the proximalframe 121 in the sitting state may be greater than an angle between thethigh and the proximal frame 121 in the standing state. Based on thestanding state, the proximal frame 121 may be parallel to the thigh. Anextension line of the proximal frame 121 may pass through the axis ofthe hip joint of the user when viewed from a side of the user.

The proximal extension 122 may be installed in the rotary coupler 13 androtate about the waist frame 11. For example, the proximal extension 122may be configured to extend upward and backward from the proximal frame121. For example, the proximal extension 122 may be configured to coverthe rotary coupler 13. The proximal extension 122 may fully cover a topsurface of the rotary coupler 13 and may cover at least a portion of aside of the rotary coupler 13. By the above structure, the proximalextension 122 may prevent foreign substances from permeating into therotation axis of the rotary coupler 13.

The length adjustment guide 123 may guide a position of the rotarycoupler 13 installed on the proximal extension 122. Based on a relativeposition between the proximal extension 122 and the rotary coupler 13, alength from the rotation axis of the proximal support 12 with respect tothe waist frame 11 to a distal end portion of the proximal support 12may be determined. Also, based on a position of the distal end portionof the proximal support 12, a position of a rotation axis between theproximal support 12 and the distal support 14 may be determined. Thus,by the length adjustment guide 123, a length from the rotation axis ofthe proximal support 12 with respect to the waist frame 11 to a rotationaxis of the distal support 14 with respect to the proximal support 12may be adjusted. In other words, the length adjustment guide 123 mayadjust a length of the proximal frame 121 extended from the rotarycoupler 13. The length adjustment guide 123 may perform assistance sothat a joint connected to the proximal frame 121 and the distal support14 may be located around the knee joint of the user, despite a change inthe position of the rotary coupler 13.

The length adjustment guide 123 may be formed in the proximal extension122, in a longitudinal direction of the proximal extension 122. Forexample, based on a standing state in which the user is standingupright, the length adjustment guide 123 may be tilted upward toward therear side of the user at an angle of 40 degrees to 50 degrees, forexample, 45 degrees. The length adjustment guide 123 may include aplurality of length adjustment holes 123 a and 123 b that are arrangedin parallel. The plurality of length adjustment holes 123 a and 123 bmay include a plurality of first length adjustment holes 123 a and aplurality of second length adjustment holes 123 b that are arranged inparallel. The plurality of length adjustment holes 123 a and 123 b maybe fastened and fixed by a fastening member, for example, a bolt,inserted into the rotary coupler 13 through the proximal extension 122.For example, a third fastening member 18 c may be fastened to a thirdreceiving portion 132 a of the rotary coupler 13 by passing through thefirst length adjustment holes 123 a, and a fourth fastening member 18 dmay be fastened to a fourth receiving portion 132 b of the rotarycoupler 13 by passing through the second length adjustment holes 123 b.A shape of length adjustment holes 123 a and 123 b is necessarily notlimited to a shape of a hole, and various shapes, for example, a shapeof a slot that continues to be elongated may be provided.

The proximal action portion 129 may apply a force to the thigh of theuser. For example, the proximal action portion 129 may be a curved platethat supports the rear surface of the thigh of the user, or a band thatcovers the thigh of the user. While the user is flexing the hip joint, apressure applied to the rear surface of the thigh of the user by theproximal action portion 129 may gradually increase. In other words,while the user is flexing the hip joint, the proximal action portion 129may more tightly press the rear surface of the thigh.

The rotary coupler 13 may rotatably connect the proximal support 12 tothe waist frame 11. The rotation axis of the rotary coupler 13 mayfunction as a rotation axis of the proximal support 12 about the waistframe 11. The rotary coupler 13 may include a base 131 and a rotatingbody 132.

The base 131 may be installed in the axis adjustment guide 113. The base131 may include the first receiving portion 131 a and the secondreceiving portion 131 b that each fluidly communicate with one of theplurality of axis adjustment holes 113 a and 113 b. For example, thefirst receiving portion 131 a may fluidly communicate with the firstaxis adjustment hole 113 a, and the second receiving portion 131 b mayfluidly communicate with the second axis adjustment hole 113 b.

One side of the rotating body 132 may be rotatably connected to the base131, and another side may be fixed to the length adjustment guide 123.The rotating body 132 may include the third receiving portion 132 a andthe fourth receiving portion 132 b that each fluidly communicate withone of the plurality of length adjustment holes 123 a and 123 b. Forexample, the third receiving portion 132 a may fluidly communicate withthe first length adjustment hole 123 a, and the fourth receiving portion132 b may fluidly communicate with the second length adjustment holes123 b.

The distal support 14 may support a distal part, for example, a lowerleg, of the user. The distal support 14 may be rotatably connected tothe proximal support 12. The distal support 14 may include a distalframe 141 and a distal action portion 149.

The distal frame 141 may be rotatably connected to the proximal frame121. In an example, the distal frame 141 may be pivotally connected tothe proximal frame 121. In another example, the distal frame 141 mayrotate while maintaining a rolling contact with the proximal frame 121.In example embodiments, a connection structure between the distal frame141 and the proximal frame 121 is not limited.

The distal action portion 149 may be worn on the lower leg of the user,to apply a force to the lower leg. For example, the distal actionportion 149 may be a curved plate that supports a rear surface of thelower leg, or a band that covers a shin.

The actuator 19 may adjust an angle between the proximal support 12 andthe distal support 14 to assist a motion of the knee joint of the user.The actuator 19 may assist an extension of the knee joint by increasingthe angle between the proximal support 12 and the distal support 14, andmay assist a flexion of the knee joint by reducing the angle between theproximal support 12 and the distal support 14. For example, the actuator19 may have a structure in which an end portion of the proximal support12 and an end portion of the distal support 14 are rotatably connectedto each other. However, example embodiments are not limited thereto, anda portion of the actuator 19 is installed in the proximal support 12,remaining portions of the actuator 19 are installed in the distalsupport 14, and components of the actuator 19 may interact with eachother. Thus, the actuator 19 may have any structure capable of adjustingthe angle between the proximal support 12 and the distal support 14. Forexample, the actuator 19 may transfer a power using any one or anycombination of a gear train, a wire, a belt and a link.

For example, the motion assistance apparatus 1 may further include acontroller (not shown). The controller may include a memory andprocessing circuitry.

The memory may include at least one of a volatile memory, non-volatilememory, random access memory (RAM), a flash memory, a hard disk drive,and an optical disk drive.

The processing circuitry may be, but not limited to, a processor,Central Processing Unit (CPU), a controller, an arithmetic logic unit(ALU), a digital signal processor, a microcomputer, a field programmablegate array (FPGA), an Application Specific Integrated Circuit (ASIC), aSystem-on-Chip (SoC), a programmable logic unit, a microprocessor, orany other device capable of performing operations in a defined manner.

The processing circuitry may be configured, through a layout design orexecution of computer readable instructions stored in the memory (notshown), as a special purpose computer to control the actuator 19. Forexample, in some example embodiments, the processing circuitry may beconnected to one or more sensors (not shown), and receive sensor datafrom the one or more sensors to determine whether the user is attemptingto transition from a sitting state to a standing state, and may controlthe actuator 19 based on a result of the sensing.

For example, the processing circuitry may be configured to control theactuator 19 to generate the power to rotate the distal support 14 basedon the results of the sensing such that, due to the rotation axis of theproximal support 12 with respect to the waist frame 11 being offsetabove a hip joint axis of the user, the motion assistance apparatus 1applies additional pressure to the thigh of the user to assist the userwith the transition to the standing state. Therefore, since the thigh ofthe user may include relatively softer tissue than other parts of thebody (e.g. the calf/ankle), the thigh of the user may be preloaded suchthat force is immediately transferable to the thigh of the user.

FIG. 4 is a front view schematically illustrating a motion assistanceapparatus according to at least one example embodiment, and FIG. 5 is afront view illustrating a state in which a position of a rotary couplerwith respect to a waist frame is changed in the motion assistanceapparatus of FIG. 4. FIG. 6 is a front view illustrating a state inwhich a position of a proximal support with respect to the rotarycoupler of FIG. 5 is changed, and FIG. 7 is a block diagram illustratinga motion assistance apparatus according to at least one exampleembodiment.

Referring to FIGS. 4 through 7, a relative position between the waistextension 112 and the base 131 may be adjusted based on the axisadjustment guide 113 of the waist frame 11. Also, a relative positionbetween the rotating body 132 and the proximal extension 122 may beadjusted based on the length adjustment guide 123 of the proximalsupport 12. A method of adjusting the position of the rotary coupler 13and the position of the proximal support 12 by a user will be describedbelow.

FIG. 4 schematically illustrates the waist frame 11, the proximalsupport 12 and the rotary coupler 13 in a state in which rotation axesof joints of the motion assistance apparatus and a hip joint and a kneejoint of the user are aligned with each other when the user is standingupright. In the above state, the same angle between the thigh and theproximal support 12 may be maintained during a flexion or extension of aleg of the user.

FIG. 5 illustrates a state in which the rotation axis of the proximalsupport 12 with respect to the waist frame 11 is located above a hipjoint axis of the user when the user is standing upright. The user maymove the base 131 of the rotary coupler 13 upward from the waistextension 112 and may fix the base 131. In the above state, in a flexionor extension of a leg of the user, the angle between the thigh and theproximal support 12 may change. Thus, the angle between the thigh andthe proximal support 12 may increase when a hip joint flexion angle ofthe user increases, which will be described below with reference toFIGS. 8 through 10. As a result, when the hip joint flexion angleincreases, a force applied to the rear surface of the proximal part ofthe user by the proximal support 12 may increase. In other words, apressure applied to the thigh of the user by the proximal support 12 ina sitting state in which the user is sitting may become greater than apressure applied to the thigh of the user by the proximal support 12 ina standing state in which the user is standing upright.

When the position of the proximal support 12 is adjusted so that theproximal support 12 together with the rotary coupler 13 are raised, arotation axis between the proximal support 12 and the distal support 14as shown in FIG. 1 may no longer match an axis of the knee joint of theuser.

To solve the above problem, FIG. 6 illustrates a state in which theproximal support 12 is moved downward and fixed with respect to therotary coupler 13 when the user is standing upright. The user may movethe proximal extension 122 downward from the rotating body 132 of therotary coupler 13 and fix the proximal extension 122, to adjust therotation axis between the proximal support 12 and the distal support 14to match the axis of the knee joint.

FIGS. 8 through 10 are side views illustrating a motion assistanceapparatus according to at least one example embodiment, and illustrate amotion of a user transitioning from a standing state to a sitting state.FIG. 11 schematically illustrates a moving route of a proximal supportaccording to at least one example embodiment.

Referring to FIGS. 8 through 11, the proximal support 12 may rotateabout a rotation axis J that is misaligned with a hip joint H of theuser. The rotation axis J may be understood as a rotation axis of therotary coupler 13 of FIGS. 3 and 6. The rotation axis J may be spacedapart upward from the hip joint H.

Since the rotation axis J and the hip joint H are misaligned, theproximal support 12 may simulate a motion of the thigh approximately,not accurately. For example, even though the user is seated so that thethigh is parallel to the ground, the proximal support 12 may not beparallel to the ground as shown in FIG. 10.

In the standing state, the proximal support 12 may be substantiallyparallel to the thigh. The proximal action portion 129 may be in a stateof being in contact with the thigh, or a state of slightly pressing thethigh.

While the standing state is changing to the sitting state, the proximalaction portion 129 may more strongly press the thigh. For example, in anintermediate state between the standing state and the sitting state, adegree to which the thigh is pressed as shown in FIG. 10 is greater thana degree to which the thigh is pressed as shown in FIG. 9. The proximalaction portion 129 may strongly press the rear surface of the thigh ofthe user in the sitting state. For example, when an additional force isapplied to the thigh, the proximal action portion 129 may sufficientlypress the rear surface of the thigh so that the thigh may be lifted.

The actuator 19 may generate a power to increase the angle between theproximal support 12 and the distal support 14, and accordingly theproximal support 12 may press the thigh. Since the proximal support 12presses the thigh before the actuator 19 generates the power, theproximal support 12 may instantly react to a generation of the power ofthe actuator 19 and may increase an angle between the thigh and shin ofthe user.

As shown in the drawings, the rotation axis J may be located in adirection inclined upward at an angle between 40 degrees to 50 degrees,for example, 45 degrees, based on a direction from the hip joint H tothe rear side.

FIG. 11 illustrates a first position P1 and a second position P2 basedon a state in which the rotation axis J of the motion assistanceapparatus 1 is aligned with the hip joint H. The first position P1refers to a position of a distal end portion of the proximal support 12in a sitting state in which the thigh is parallel to the ground. Thesecond position P2 refers to a position of the distal end portion of theproximal support 12 in a standing state in which the thigh isperpendicular to the ground. When the rotation axis J moves in adirection inclined upward at 45 degrees, based on a direction from thehip joint H to the rear side, and when a length of the proximal support12 increases, as shown in FIG. 11, the distal end portion of theproximal support 12 may be adjusted to pass through the first positionP1 and the second position P2. By the above arrangement, in the sittingstate and the standing state requiring a large amount of time in a dailylife of the user, a joint of the motion assistance apparatus 1 may matchthe knee joint of the user. As shown in FIG. 11, a deviation in themoving route of the distal end portion of the proximal support 12 may bereduced before and after a movement of the rotation axis J, and thus itis possible to prevent a reduction in a wearability of the user.

FIG. 12 is a rear view illustrating an example of a motion assistanceapparatus according to at least one example embodiment.

Referring to FIG. 12, the motion assistance apparatus may include aproximal action portion 729. The proximal action potion 729 may beincorporated into the motion assistance apparatus 1 such that theproximal action portion 729 replaces the proximal action portion 129 orsupplements the proximal action portion 129.

One end of the proximal action portion 729 may be connected to aproximal support 12 that supports one of a left thigh and a right thigh,and another end may be connected to a waist extension 112 on an oppositeside. Two proximal action portions 729 may cross each other. By theabove structure, the proximal action portions 729 may support a hip of auser. The hip of the user may be a part that supports a weight of theuser in the sitting state, and may be in a state of being more stronglypressed than a thigh of the user. Thus, the proximal action portion 729may be provided to press the hip of the user, to effectively assist astanding-up motion of the user.

Also, one end of the proximal action portion 729 may be fixed to a waistextension 112, and another end may be connected to the proximal support12 that moves relative to the waist extension 112, and accordingly theproximal action portion 729 may press the hip of the user with the sameeffect as a movable pulley. Thus, the motion assistance apparatus 1 mayprovide a great force even though an actuator 19 with a relatively lowoutput is used.

FIG. 13 is a rear view illustrating another example of a motionassistance apparatus according to at least one example embodiment.

Referring to FIG. 13, the motion assistance apparatus may include aproximal action portion 829. The proximal action potion 829 may beincorporated into the motion assistance apparatus 1 such that theproximal action portion 829 replaces the proximal action portion 129 orsupplements the proximal action portion 129.

The proximal action portion 829 may include a body part, and fourextension parts that extend in four directions from the body part andthat are connected to a left proximal support 12, a left waist extension112, a right proximal support 12 and a right waist extension 112,respectively. For example, the body part and the extension parts may beformed integrally with each other, or a separate body part and separateextension parts may be combined. In the example of FIG. 13, a force maybe more equally provided to a hip of a user.

FIG. 14 is a rear view illustrating still another example of a motionassistance apparatus according to at least one example embodiment.

Referring to FIG. 14, the motion assistance apparatus may include aproximal action portion 929 having both ends connected to a leftproximal support 12 and a right proximal support 12. The proximal actionpotion 929 may be incorporated into the motion assistance apparatus 1such that the proximal action portion 929 replaces the proximal actionportion 129 or supplements the proximal action portion 129. In theexample of FIG. 14, a hip of a user may be pressed using a relativelysimple structure.

FIGS. 15 through 17 are side views illustrating a motion assistanceapparatus according to at least one example embodiment, and illustrate amotion of a user transitioning from a standing state to a sitting state.

Referring to FIGS. 15 through 17, a motion assistance apparatus 2 mayinclude a waist frame 21 and a proximal support 22.

The proximal support 22 may be connected to the waist frame 21 tosimultaneously perform a rotation and a translation with respect to thewaist frame 21. While a standing state in which a user is standingupright as shown in FIG. 15 is changing to a sitting state in which theuser is sitting as shown in FIG. 17, the proximal support 22 may moveupward with respect to the waist frame 21. For example, as shown inFIGS. 15 through 17, when the proximal support 22 is rotating in aclockwise direction with respect to the waist frame 21, the proximalsupport 22 may perform a translation upward along the waist frame 21.Thus, when a flexion angle of a hip joint of the user increases, theproximal support 22 may press a rear surface of a proximal part of theuser.

The waist frame 21 may include a waist frame body 211, a waist extension212, a first projection 213 and a second projection 214.

The first projection 213 and the second projection 214 may be formed toprotrude from the waist extension 212. The first projection 213 and thesecond projection 214 may be inserted into a first guide slot 223 and asecond guide slot 224 of the proximal support 22, respectively. Thesecond projection 214 may be spaced apart from the first projection 213by a desired (or, alternatively, a predetermined) length. The secondprojection 214 may be located on a side further to a rear side of theuser than the first projection 213 (that is, located on a right side ofthe first projection 213 in the drawings).

The proximal support 22 may include a proximal frame 221, a head plate222, the first guide slot 223 and the second guide slot 224. Theproximal frame 221 may be approximately parallel to a thigh of the user,and a head plate 222 may extend from the proximal frame 221 and face thewaist extension 212.

The first guide slot 223 and the second guide slot 224 may be formed inthe head plate 222. A distance between a first position corresponding toan arbitrary percentage with respect to a total length of the firstguide slot 223 and a second position corresponding to the arbitrarypercentage with respect to a total length of the second guide slot 224may be designed to be equal to the distance between the first projection213 and the second projection 214. Also, a diameter of each of the firstprojection 213 and the second projection 214 may be equal to a width ofeach of the first guide slot 223 and the second guide slot 224. By theabove structure, when the first projection 213 is moving along the firstguide slot 223, the second projection 214 may move along the secondguide slot 224. As a result, the proximal support 22 may move in onedegree of freedom (DOF) with respect to the waist frame 21.

Also, the first guide slot 223 and the second guide slot 224 may havedifferent lengths. By the above structure, a relatively speed betweenthe first projection 213 and the second projection 214 may be generatedbased on a local coordinate system fixed to the head plate 222 that isone rigid material. Thus, the proximal support 22 may simultaneouslyperform a rotation and a translation with respect to the firstprojection 213 and the second projection 214 that are fixed.

For example, a length of the first guide slot 223 may be greater than alength of the second guide slot 224 that is located on the side furtherto the rear side of the user than the first guide slot 223. By the abovestructure, a maximum flexion angle of the proximal support 22 may begreater than a maximum extension angle.

In the standing state of FIG. 15, a first central point corresponding toa central portion of a virtual line connecting the first projection 213and the second projection 214 may be located above a second centralpoint corresponding to a central portion of a virtual line connecting alower end of the first guide slot 223 and a lower end of the secondguide slot 224. By the above structure, a height of the head plate 222with respect to the waist frame 21 in the sitting state of FIG. 17 maybe greater than a height of the head plate 222 in the standing state ofFIG. 15, and thus the rear surface of the proximal part of the user maybe pressed in the sitting state.

Also, based on the standing state, the first guide slot 223 may continueto extend downward and backward. By the above shape, when the standingstate is changing to the sitting state, a pressure applied to the rearsurface of the proximal part of the user by the proximal support 22(e.g., an action portion of the proximal frame 221) may graduallyincrease.

For example, the first guide slot 223 may have a shape of an arcextending downward and backward as shown in FIG. 15. In this example,the second guide slot 224 may be designed to correspond to the shape ofthe first guide slot 223, based on the distance between the firstprojection 213 and the second projection 214. For example, the secondguide slot 224 may have a shape that extends toward a curved portion ofthe first guide slot 223 as shown in FIG. 15.

A number of example embodiments have been described above. Nevertheless,it should be understood that various modifications may be made to theseexample embodiments. For example, suitable results may be achieved ifthe described techniques are performed in a different order and/or ifcomponents in a described system, architecture, device, or circuit arecombined in a different manner and/or replaced or supplemented by othercomponents or their equivalents. Accordingly, other implementations arewithin the scope of the following claims.

What is claimed is:
 1. A motion assistance apparatus comprising: a waistframe configured to support a waist of a user; and a proximal supportconfigured to support a proximal part of the user such that a pressureapplied to a thigh of the user by the proximal support when the user isin a sitting state is greater than the pressure applied to the thigh ofthe user by the proximal support when the user is in a standing state.2. The motion assistance apparatus of claim 1, wherein the proximalsupport is configured to apply the pressure to the proximal part of theuser such that the pressure gradually increases while the usertransitions from standing state to the sitting state.
 3. The motionassistance apparatus of claim 1, wherein the proximal support isconfigured to support a rear surface of the proximal part of the user.4. The motion assistance apparatus of claim 1, further comprising: adistal support rotatably connected to the proximal support, the distalsupport configured to support a distal part of the user; and an actuatorconfigured to adjust an angle between the distal support and theproximal support.
 5. The motion assistance apparatus of claim 1, whereinthe proximal support comprises: a proximal action portion configured tocover at least a portion of one or more of the thigh or a hip of theuser.
 6. The motion assistance apparatus of claim 1, further comprising:a proximal action portion configured to support a hip of the user, theproximal action portion including a first end and a second end, thefirst end being connected to the proximal support and the second endbeing connected to the waist frame.
 7. A motion assistance apparatuscomprising: a waist frame configured to support a waist of a user; aproximal support configured to support a proximal part of the user; anda rotary coupler configured to connect the waist frame and the proximalsupport at a selected one of a plurality of different positions suchthat a position at which the proximal support is connected to the waistframe via the rotary coupler varies based on the selected one of theplurality of different positions.
 8. The motion assistance apparatus ofclaim 7, wherein the waist frame comprises: an axis adjustment guide onthe waist frame such that the axis adjustment guide is tilted upwardtoward a rear side of the waist frame, the axis adjustment guideconfigured to adjust a relative position between the waist frame and therotary coupler.
 9. The motion assistance apparatus of claim 8, whereinthe rotary coupler comprises: a base installable in the axis adjustmentguide at different ones of the plurality of different positions; and arotating body rotatably connected to the base.
 10. The motion assistanceapparatus of claim 9, wherein the proximal support comprises: a lengthadjustment guide on the proximal support, the length adjustment guideconfigured to adjust a relative position between the rotary coupler andthe proximal support.
 11. The motion assistance apparatus of claim 8,wherein the axis adjustment guide has a plurality of axis adjustmentholes arranged in parallel therein.
 12. The motion assistance apparatusof claim 8, wherein the axis adjustment guide is tilted upward andbackward at 45 degrees when the user is in a standing state.
 13. Themotion assistance apparatus of claim 7, wherein the proximal supportcomprises: a proximal frame perpendicular to a ground when the user isin a standing state; and a proximal extension extending backward andupward from the proximal frame, the proximal extension configured toconnect to the rotary coupler.
 14. The motion assistance apparatus ofclaim 7, wherein the proximal support is configured to support a rearsurface of the proximal part of the user, and the motion assistanceapparatus further comprises: a distal support rotatably connected to theproximal support, the distal support configured to support a distal partof the user; and an actuator configured to generate a force to change anangle between the distal support and a proximal frame.
 15. A motionassistance apparatus comprising: a waist frame configured to support awaist of a user; and a proximal support configured to simultaneouslyperform a rotation and a translation with respect to the waist frame.16. The motion assistance apparatus of claim 15, wherein the proximalsupport is configured to perform the translation toward an upper side ofthe waist frame in response to the user transitioning from a standingstate to a sitting state.
 17. The motion assistance apparatus of claim15, wherein the proximal support includes a first guide slot and asecond guide slot, the second guide slot being on a side further to arear side of the user than the first guide slot, and the waist frameincludes a first projection and a second projection, the secondprojection spaced apart from the first projection by a projectiondistance, the first projection and the second projection configured topenetrate the first guide slot and the second guide slot, respectively.18. The motion assistance apparatus of claim 17, wherein the firstprojection is configured to move along the first guide slot from theupper end to the lower end of the first guide slot while the secondprojection moves along the second guide slot from the upper end to thelower end of the second guide slot.
 19. The motion assistance apparatusof claim 18, wherein the first length of the first guide slot is greaterthan the second length of the second guide slot.
 20. The motionassistance apparatus of claim 18, wherein the proximal support and thewaist frame are configured such that, when the user is in a standingstate, a center of a virtual line connecting the first projection andthe second projection is higher than a center of a virtual lineconnecting the lower ends of the first guide slot and the second guideslot.